ENME585_Lab01_Submission_Form (1)
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University of the Fraser Valley *
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Course
585
Subject
English
Date
Dec 6, 2023
Type
Pages
6
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ENME 585 Fall 2022
Lab 01
–
DC Motor Speed Control
Lab Submission Form
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YOUR GROUP INFORMATION
Lab section
:
Date:
B06
29-09-2023
Laptop #
:
Hardware #
:
Type here.
Type here.
First Name 1:
Ayman
Last Name 1:
Malkawi
First Name 2:
Type here.
Last Name 2:
Type here.
First Name 3:
Type here.
Last Name 3:
Type here.
YOUR FEEDBACK
A. How would you rate the difficulty of this lab?
Select one.
B. Were there any aspects of this lab that you
struggled with or found confusing? If so, which?
Type here.
C. How long did it take you/your group to do the
lab, including finishing this submission form?
Type here.
D. Suggest improvements, if any.
Type here.
Unless otherwise specified, show all your work for calculations. Type/insert equations or include a photo/scan of
your handwritten work for each problem. Include axis labels on all plots. Each question is worth 4 marks.
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QUESTIONS: 1 - Model Identification via Step Response
(16/24 marks)
Q1.
Insert the figure of the scope output for the 2V step input, complete with your selected data points shown.
Enter your determined values for
𝑐
and
𝜏
in the table below.
Constant
Value
𝑐
[rad/s]
22.75
𝜏
[s]
0.168
Q2.
Insert the overlay plot output from the MATLAB script with the figure title and axis labels.
Provide 2 possible reasons for the difference between the actual DC motor output and the theoretical step
response.
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1.
Possible human error in approximating values from the plot.
2.
There is also friction that isn
’
t accounted for inside the motor.
3.
There is inductance that is assumed to be negligible.
Q3.
Insert the scope output figure for the 4V step response.
Is the output speed twice that found in (c)? Is the system linear?
The output speed is almost twice of what we found but isn
’
t exactly twice that value. The previous value found
was around 45.5, compared to the current 94. It
’
s not exactly linear. This is because for this lab, we are assuming
that inductance is negligible, whereas in the actual system, there is an inductance.
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v.16-JAN-2022
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Q4.
Insert the scope output figure for the 2V step response of the motor without the inertia disc attached.
Does the effect of inertia on the time constant and DC gain match what you predicted in part (5) of the prelab?
According to the pre-lab analysis, it was predicted that the time constant would decrease with decreasing
inertial load, this was indeed observed as shown in the plot. The time constant, however, is approximately the
same, just as predicted on the pre-lab assessment.
QUESTIONS: 2
–
Proportional Speed Control
(8/24 marks)
Q5.
Insert the scope output figure for
𝑘
𝑝
= 0.1
Describe how the step response changes as
𝑘
𝑝
is increased. Does the response become faster or slower? Does
the steady-state error increase or decrease?
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It seems like as the value of
𝑘
𝑝
increases, the value of the response increases. On the other hand, the value
of the steady-state error increases as
𝑘
𝑝
decreases.
Q6.
Insert the figure of the scope output for the
𝑘
𝑝
= 0.2
, complete with your selected data points shown. Enter
your determined values for
𝑒
𝑠𝑠
and
𝜏
𝑐
in the table below.
Do these values agree with those calculated from your answer to part (7) of the prelab using the values of
𝑐
and
𝜏
found experimentally in step 1c?
Constant
Predicted
Value
Experimentally
Determined Value
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𝑒
𝑠𝑠
[rad/s]
3.6
3.6
𝜏
𝑐
[s]
0.03
0.03
My experimental values do align with the predicted values. Although there is some deviation between the
values which could be due to negligence of friction as well as other assumptions made.
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